相关论文: Semantic Image Based Geolocation Given a Map

The dominant paradigm in image retrieval systems today is to search large databases using global image features, and re-rank those initial results with local image feature matching techniques. This design, dubbed global-to-local, stems from…

We demonstrate how language can improve geolocation: the task of predicting the location where an image was taken. Here we study explicit knowledge from human-written guidebooks that describe the salient and class-discriminative visual…

Supervised keypoint localization methods rely on large manually labeled image datasets, where objects can deform, articulate, or occlude. However, creating such large keypoint labels is time-consuming and costly, and is often error-prone…

This paper presents Vision-Language Global Localization (VLG-Loc), a novel global localization method that uses human-readable labeled footprint maps containing only names and areas of distinctive visual landmarks in an environment. While…

Geo-localization is a critical task in computer vision. In this work, we cast the geo-localization as a 2D image retrieval task. Current state-of-the-art methods for 2D geo-localization are not robust to locate a scene with drastic scale…

Novel view synthesis from images, for example, with 3D Gaussian splatting, has made great progress. Rendering fidelity and speed are now ready even for demanding virtual reality applications. However, the problem of assisting humans in…

In this paper, we introduce a method for visual relocalization using the geometric information from a 3D surfel map. A visual database is first built by global indices from the 3D surfel map rendering, which provides associations between…

Highly automated driving functions currently often rely on a-priori knowledge from maps for planning and prediction in complex scenarios like cities. This makes map-relative localization an essential skill. In this paper, we address the…

High precision localization is a crucial requirement for the autonomous driving system. Traditional positioning methods have some limitations in providing stable and accurate vehicle poses, especially in an urban environment. Herein, we…

Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…

Ground texture based localization methods are potential prospects for low-cost, high-accuracy self-localization solutions for robots. These methods estimate the pose of a given query image, i.e. the current observation of the ground from a…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

The accurate localization of facial landmarks is at the core of face analysis tasks, such as face recognition and facial expression analysis, to name a few. In this work, we propose a novel localization approach based on a deep learning…

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…

In vision-based robot localization and SLAM, Visual Place Recognition (VPR) is essential. This paper addresses the problem of VPR, which involves accurately recognizing the location corresponding to a given query image. A popular approach…

Visual localization is a core component in many applications, including augmented reality (AR). Localization algorithms compute the camera pose of a query image w.r.t. a scene representation, which is typically built from images. This often…

Loop detection plays a key role in visual Simultaneous Localization and Mapping (SLAM) by correcting the accumulated pose drift. In indoor scenarios, the richly distributed semantic landmarks are view-point invariant and hold strong…

Numerous navigation applications rely on data from global navigation satellite systems (GNSS), even though their accuracy is compromised in urban areas, posing a significant challenge, particularly for precise autonomous car localization.…

Place recognition is one of the most fundamental topics in computer vision and robotics communities, where the task is to accurately and efficiently recognize the location of a given query image. Despite years of wisdom accumulated in this…

We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for…